link_sensors.h

/* Copyright (C) 2004-2010 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: markus.ms.schneider@gmail.com
 */
 
#ifndef _LINK_SENSORS_H_
#define _LINK_SENSORS_H_
 
#include "mbsimControl/sensor.h"
 
namespace MBSim {
  class Link;
}
 
namespace MBSimControl {
 
  class LinkSensor : public Sensor {
    public:
      LinkSensor(const std::string &name) : Sensor(name) { }
      void initializeUsingXML(xercesc::DOMElement *element) override;
      void init(InitStage stage, const MBSim::InitConfigSet &config) override;
      void setLink(MBSim::Link * link_) { link = link_; }
    protected:
      MBSim::Link *link{nullptr};
      std::string linkString;
  };
 
  class GeneralizedRelativePositionSensor : public LinkSensor {
    public:
      GeneralizedRelativePositionSensor(const std::string &name="") : LinkSensor(name) { }
      int getSignalSize() const override;
      void updateSignal() override;
  };
 
  class GeneralizedRelativeVelocitySensor : public LinkSensor {
    public:
      GeneralizedRelativeVelocitySensor(const std::string &name="") : LinkSensor(name) { }
      int getSignalSize() const override;
      void updateSignal() override;
  };
 
  class GeneralizedForceSensor : public LinkSensor {
    public:
      GeneralizedForceSensor(const std::string &name="") : LinkSensor(name) { }
      int getSignalSize() const override;
      void updateSignal() override;
  };
 
}
 
#endif /* _LINK_SENSORS_H_ */